microbit: Refactored MicroBit C/C++ personality into this repo
This commit is contained in:
Joe Finney
parent
44f7651f34
commit
b12ff223d1
4 changed files with 671 additions and 27 deletions
464
inc/MicroBit.h
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464
inc/MicroBit.h
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#ifndef MICROBIT_H
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#define MICROBIT_H
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#include "mbed.h"
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#include "MicroBitConfig.h"
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#include "MicroBitHeapAllocator.h"
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#include "MicroBitDevice.h"
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#include "ErrorNo.h"
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#include "MicroBitSystemTimer.h"
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#include "Matrix4.h"
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#include "MicroBitCompat.h"
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#include "MicroBitComponent.h"
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#include "ManagedType.h"
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#include "ManagedString.h"
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#include "MicroBitImage.h"
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#include "MicroBitFont.h"
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#include "MicroBitEvent.h"
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#include "DynamicPwm.h"
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#include "MicroBitI2C.h"
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#include "MESEvents.h"
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#include "MicroBitButton.h"
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#include "MicroBitPin.h"
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#include "MicroBitCompass.h"
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#include "MicroBitCompassCalibrator.h"
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#include "MicroBitAccelerometer.h"
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#include "MicroBitThermometer.h"
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#include "MicroBitLightSensor.h"
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#include "MicroBitMultiButton.h"
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#include "MicroBitSerial.h"
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#include "MicroBitIO.h"
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#include "MicroBitMatrixMaps.h"
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#include "MicroBitDisplay.h"
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#include "MicroBitFiber.h"
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#include "MicroBitMessageBus.h"
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#include "MicroBitBLEManager.h"
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#include "MicroBitRadio.h"
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#include "MicroBitStorage.h"
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// MicroBit::flags values
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#define MICROBIT_INITIALIZED 0x01
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/**
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* Class definition for a MicroBit device.
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*
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* Represents the device as a whole, and includes member variables to that reflect the components of the system.
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*/
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class MicroBit
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{
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private:
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void onListenerRegisteredEvent(MicroBitEvent evt);
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uint8_t status;
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public:
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// Reset Button
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InterruptIn resetButton;
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// Persistent key value store
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MicroBitStorage storage;
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// I2C Interface
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MicroBitI2C i2c;
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// Serial Interface
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MicroBitSerial serial;
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// Device level Message Bus abstraction
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MicroBitMessageBus messageBus;
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// Member variables to represent each of the core components on the device.
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MicroBitDisplay display;
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MicroBitButton buttonA;
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MicroBitButton buttonB;
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MicroBitMultiButton buttonAB;
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MicroBitAccelerometer accelerometer;
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MicroBitCompass compass;
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MicroBitCompassCalibrator compassCalibrator;
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MicroBitThermometer thermometer;
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//An object of available IO pins on the device
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MicroBitIO io;
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// Bluetooth related member variables.
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MicroBitBLEManager bleManager;
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MicroBitRadio radio;
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BLEDevice *ble;
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/**
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* Constructor.
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* Create a representation of a MicroBit device as a global singleton.
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* @param messageBus callback function to receive MicroBitMessageBus events.
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*
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* Exposed objects:
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* @code
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* uBit.messageBus; //The message bus where events are fired.
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* uBit.display; //The display object for the LED matrix.
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* uBit.buttonA; //The buttonA object for button a.
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* uBit.buttonB; //The buttonB object for button b.
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* uBit.resetButton; //The resetButton used for soft resets.
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* uBit.accelerometer; //The object that represents the inbuilt accelerometer
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* uBit.compass; //The object that represents the inbuilt compass(magnetometer)
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* uBit.io.P*; //Where P* is P0 to P16, P19 & P20 on the edge connector
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* @endcode
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*/
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MicroBit();
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/**
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* Post constructor initialisation method.
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* After *MUCH* pain, it's noted that the BLE stack can't be brought up in a
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* static context, so we bring it up here rather than in the constructor.
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* n.b. This method *must* be called in main() or later, not before.
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*
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* Example:
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* @code
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* uBit.init();
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* @endcode
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*/
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void init();
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/**
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* Return the friendly name for this device.
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*
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* @return A string representing the friendly name of this device.
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*/
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static ManagedString getName();
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/**
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* Return the serial number of this device.
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*
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* @return A string representing the serial number of this device.
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*/
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static ManagedString getSerial();
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/**
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* Will reset the micro:bit when called.
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*
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* Example:
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* @code
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* uBit.reset();
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* @endcode
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*/
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void reset();
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/**
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* Delay for the given amount of time.
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* If the scheduler is running, this will deschedule the current fiber and perform
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* a power efficent, concurrent sleep operation.
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* If the scheduler is disabled or we're running in an interrupt context, this
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* will revert to a busy wait.
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*
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* @note Values of 6 and below tend to lose resolution - do you really need to sleep for this short amount of time?
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*
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* @param milliseconds the amount of time, in ms, to wait for. This number cannot be negative.
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* @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER milliseconds is less than zero.
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*
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* Example:
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* @code
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* MicroBit::sleep(20); //sleep for 20ms
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* @endcode
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*/
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void sleep(uint32_t milliseconds);
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/**
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* Seed the pseudo random number generator using the hardware generator.
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*
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* Example:
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* @code
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* uBit.seedRandom();
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* @endcode
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*/
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void seedRandom();
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/**
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* Seed the pseudo random number generator using the given value.
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*
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* @param seed The 32-bit value to seed the generator with.
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*
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* Example:
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* @code
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* uBit.seedRandom(0x12345678);
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* @endcode
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*/
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void seedRandom(uint32_t seed);
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/**
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* Generate a random number in the given range.
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* We use the NRF51822 in built random number generator here
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* TODO: Determine if we want to, given its relatively high power consumption!
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*
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* @param max the upper range to generate a number for. This number cannot be negative
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* @return A random, natural number between 0 and the max-1. Or MICROBIT_INVALID_PARAMETER if max is <= 0.
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*
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* Example:
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* @code
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* uBit.random(200); //a number between 0 and 199
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* @endcode
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*/
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int random(int max);
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/**
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* Determine the time since this MicroBit was last reset.
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*
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* @return The time since the last reset, in milliseconds. This will result in overflow after 1.6 months.
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* TODO: handle overflow case.
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*/
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unsigned long systemTime();
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/**
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* Determine the version of the micro:bit runtime currently in use.
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*
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* @return A textual description of the currentlt executing micro:bit runtime.
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* TODO: handle overflow case.
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*/
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const char *systemVersion();
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/**
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* Triggers a microbit panic where an infinite loop will occur swapping between the panicFace and statusCode if provided.
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*
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* @param statusCode the status code of the associated error. Status codes must be in the range 0-255.
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*/
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void panic(int statusCode = 0);
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/**
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* add a component to the array of components which invocate the systemTick member function during a systemTick
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* @param component The component to add.
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* @return MICROBIT_OK on success. MICROBIT_NO_RESOURCES is returned if further components cannot be supported.
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* @note This interface is now deprecated. See fiber_add_system_component().
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*/
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int addSystemComponent(MicroBitComponent *component);
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/**
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* remove a component from the array of components
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* @param component The component to remove.
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* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMTER is returned if the given component has not been previous added.
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* @note This interface is now deprecated. See fiber_remove_system_component().
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*/
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int removeSystemComponent(MicroBitComponent *component);
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/**
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* add a component to the array of components which invocate the systemTick member function during a systemTick
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* @param component The component to add.
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* @return MICROBIT_OK on success. MICROBIT_NO_RESOURCES is returned if further components cannot be supported.
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* @note This interface is now deprecated. See fiber_add_idle_component().
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*/
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int addIdleComponent(MicroBitComponent *component);
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/**
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* remove a component from the array of components
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* @param component The component to remove.
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* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMTER is returned if the given component has not been previous added.
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* @note This interface is now deprecated. See fiber_remove_idle_component().
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*/
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int removeIdleComponent(MicroBitComponent *component);
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};
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/**
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* Return the friendly name for this device.
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*
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* @return A string representing the friendly name of this device.
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*/
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inline ManagedString MicroBit::getName()
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{
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return ManagedString(microbit_friendly_name());
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}
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/**
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* Return the serial number of this device.
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*
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* @return A string representing the serial number of this device.
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*/
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inline ManagedString MicroBit::getSerial()
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{
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// We take to 16 bit numbers here, as we want the full range of ID bits, but don't want negative numbers...
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int n1 = microbit_serial_number() & 0xffff;
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int n2 = (microbit_serial_number() >> 16) & 0xffff;
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// Simply concat the two numbers.
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ManagedString s1(n1);
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ManagedString s2(n2);
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return s1 + s2;
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}
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/**
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* Will reset the micro:bit when called.
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*
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* Example:
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* @code
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* uBit.reset();
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* @endcode
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*/
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inline void MicroBit::reset()
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{
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if(ble && ble->getGapState().connected) {
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// We have a connected BLE peer. Disconnect the BLE session.
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ble->gap().disconnect(Gap::REMOTE_USER_TERMINATED_CONNECTION);
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// Wait a little while for the connection to drop.
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wait_ms(100);
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}
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microbit_reset();
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}
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/**
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* Delay for the given amount of time.
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* If the scheduler is running, this will deschedule the current fiber and perform
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* a power efficent, concurrent sleep operation.
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* If the scheduler is disabled or we're running in an interrupt context, this
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* will revert to a busy wait.
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*
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* @note Values of below below the scheduling period (typical 6ms) tend to lose resolution.
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*
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* @param milliseconds the amount of time, in ms, to wait for. This number cannot be negative.
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* @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER milliseconds is less than zero.
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*
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* Example:
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* @code
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* uBit.sleep(20); //sleep for 20ms
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* @endcode
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*/
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inline void MicroBit::sleep(uint32_t milliseconds)
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{
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fiber_sleep(milliseconds);
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}
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/**
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* Generate a random number in the given range.
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* We use a simple Galois LFSR random number generator here,
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* as a Galois LFSR is sufficient for our applications, and much more lightweight
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* than the hardware random number generator built int the processor, which takes
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* a long time and uses a lot of energy.
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*
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* KIDS: You shouldn't use this is the real world to generte cryptographic keys though...
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* have a think why not. :-)
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*
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* @param max the upper range to generate a number for. This number cannot be negative
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* @return A random, natural number between 0 and the max-1. Or MICROBIT_INVALID_VALUE (defined in ErrorNo.h) if max is <= 0.
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*
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* Example:
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* @code
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* uBit.random(200); //a number between 0 and 199
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* @endcode
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*/
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inline int MicroBit::random(int max)
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{
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return microbit_random(max);
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}
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/**
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* Seed our a random number generator (RNG).
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* We use the NRF51822 in built cryptographic random number generator to seed a Galois LFSR.
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* We do this as the hardware RNG is relatively high power, and use the the BLE stack internally,
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* with a less than optimal application interface. A Galois LFSR is sufficient for our
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* applications, and much more lightweight.
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*/
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inline void MicroBit::seedRandom()
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{
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microbit_seed_random();
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}
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/**
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* Seed our pseudo random number generator (PRNG) using the given 32-bit value.
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*/
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inline void MicroBit::seedRandom(uint32_t seed)
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{
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microbit_seed_random(seed);
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}
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/**
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* add a component to the array of components which invocate the systemTick member function during a systemTick
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* @param component The component to add.
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* @return MICROBIT_OK on success. MICROBIT_NO_RESOURCES is returned if further components cannot be supported.
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* @note this will be converted into a dynamic list of components
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*/
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inline int MicroBit::addSystemComponent(MicroBitComponent *component)
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{
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return system_timer_add_component(component);
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}
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/**
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* remove a component from the array of components
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* @param component The component to remove.
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* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMTER is returned if the given component has not been previous added.
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* @note this will be converted into a dynamic list of components
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*/
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inline int MicroBit::removeSystemComponent(MicroBitComponent *component)
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{
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return system_timer_remove_component(component);
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}
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/**
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* add a component to the array of components which invocate the systemTick member function during a systemTick
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* @param component The component to add.
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* @return MICROBIT_OK on success. MICROBIT_NO_RESOURCES is returned if further components cannot be supported.
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* @note this will be converted into a dynamic list of components
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*/
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inline int MicroBit::addIdleComponent(MicroBitComponent *component)
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{
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return fiber_add_idle_component(component);
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}
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/**
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* remove a component from the array of components
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* @param component The component to remove.
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* @return MICROBIT_OK on success. MICROBIT_INVALID_PARAMTER is returned if the given component has not been previous added.
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* @note this will be converted into a dynamic list of components
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*/
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inline int MicroBit::removeIdleComponent(MicroBitComponent *component)
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{
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return fiber_remove_idle_component(component);
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}
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/**
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* Determine the time since this MicroBit was last reset.
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*
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* @return The time since the last reset, in milliseconds. This will result in overflow after 1.6 months.
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* TODO: handle overflow case.
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*/
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inline unsigned long MicroBit::systemTime()
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{
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return system_timer_current_time();
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}
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/**
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* Determine the version of the micro:bit runtime currently in use.
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*
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* @return A textual description of the currentlt executing micro:bit runtime.
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* TODO: handle overflow case.
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*/
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inline const char *MicroBit::systemVersion()
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{
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return microbit_dal_version();
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}
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/**
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* Triggers a microbit panic. All functionality will cease, and a sad face displayed along with an error code.
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* @param statusCode the status code of the associated error. Status codes must be in the range 0-255.
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*/
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inline void MicroBit::panic(int statusCode)
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{
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//show error and enter infinite while
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microbit_panic(statusCode);
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}
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// Entry point for application programs. Called after the super-main function
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// has initialized the device and runtime environment.
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extern "C" void app_main();
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#endif
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@ -9,8 +9,11 @@
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}
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],
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"dependencies": {
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"microbit-dal": "lancaster-university/microbit-dal"
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"microbit-dal": "lancaster-university/microbit-dal#component-refactor"
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},
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"extraIncludes": [
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"inc"
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],
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"targetDependencies": {},
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"bin": "./source"
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}
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203
source/MicroBit.cpp
Normal file
203
source/MicroBit.cpp
Normal file
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@ -0,0 +1,203 @@
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#include "MicroBitConfig.h"
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/*
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* The underlying Nordic libraries that support BLE do not compile cleanly with the stringent GCC settings we employ
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* If we're compiling under GCC, then we suppress any warnings generated from this code (but not the rest of the DAL)
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* The ARM cc compiler is more tolerant. We don't test __GNUC__ here to detect GCC as ARMCC also typically sets this
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* as a compatability option, but does not support the options used...
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*/
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#if !defined(__arm)
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#pragma GCC diagnostic ignored "-Wunused-function"
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wunused-parameter"
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#endif
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#include "MicroBit.h"
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#include "nrf_soc.h"
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/*
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* Return to our predefined compiler settings.
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*/
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#if !defined(__arm)
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#pragma GCC diagnostic pop
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#endif
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/**
|
||||
* Constructor.
|
||||
* Create a representation of a MicroBit device as a global singleton.
|
||||
* @param messageBus callback function to receive MicroBitMessageBus events.
|
||||
*
|
||||
* Exposed objects:
|
||||
* @code
|
||||
* uBit.systemTicker; //the Ticker callback that performs routines like updating the display.
|
||||
* uBit.messageBus; //The message bus where events are fired.
|
||||
* uBit.display; //The display object for the LED matrix.
|
||||
* uBit.buttonA; //The buttonA object for button a.
|
||||
* uBit.buttonB; //The buttonB object for button b.
|
||||
* uBit.buttonAB; //The buttonAB object for button a+b multi press.
|
||||
* uBit.resetButton; //The resetButton used for soft resets.
|
||||
* uBit.accelerometer; //The object that represents the inbuilt accelerometer
|
||||
* uBit.compass; //The object that represents the inbuilt compass(magnetometer)
|
||||
* uBit.io.P*; //Where P* is P0 to P16, P19 & P20 on the edge connector
|
||||
* @endcode
|
||||
*/
|
||||
MicroBit::MicroBit() :
|
||||
resetButton(MICROBIT_PIN_BUTTON_RESET),
|
||||
storage(),
|
||||
i2c(I2C_SDA0, I2C_SCL0),
|
||||
serial(USBTX, USBRX),
|
||||
messageBus(),
|
||||
display(),
|
||||
buttonA(MICROBIT_PIN_BUTTON_A, MICROBIT_ID_BUTTON_A),
|
||||
buttonB(MICROBIT_PIN_BUTTON_B, MICROBIT_ID_BUTTON_B),
|
||||
buttonAB(MICROBIT_ID_BUTTON_A,MICROBIT_ID_BUTTON_B, MICROBIT_ID_BUTTON_AB),
|
||||
accelerometer(i2c),
|
||||
compass(i2c, accelerometer, storage),
|
||||
compassCalibrator(compass, accelerometer, display),
|
||||
thermometer(storage),
|
||||
io(MICROBIT_ID_IO_P0,MICROBIT_ID_IO_P1,MICROBIT_ID_IO_P2,
|
||||
MICROBIT_ID_IO_P3,MICROBIT_ID_IO_P4,MICROBIT_ID_IO_P5,
|
||||
MICROBIT_ID_IO_P6,MICROBIT_ID_IO_P7,MICROBIT_ID_IO_P8,
|
||||
MICROBIT_ID_IO_P9,MICROBIT_ID_IO_P10,MICROBIT_ID_IO_P11,
|
||||
MICROBIT_ID_IO_P12,MICROBIT_ID_IO_P13,MICROBIT_ID_IO_P14,
|
||||
MICROBIT_ID_IO_P15,MICROBIT_ID_IO_P16,MICROBIT_ID_IO_P19,
|
||||
MICROBIT_ID_IO_P20),
|
||||
bleManager(storage),
|
||||
radio(),
|
||||
ble(NULL)
|
||||
{
|
||||
// Clear our status
|
||||
status = 0;
|
||||
|
||||
// Bring up soft reset functionality as soon as possible.
|
||||
resetButton.mode(PullUp);
|
||||
resetButton.fall(this, &MicroBit::reset);
|
||||
}
|
||||
|
||||
/**
|
||||
* Post constructor initialisation method.
|
||||
* After *MUCH* pain, it's noted that the BLE stack can't be brought up in a
|
||||
* static context, so we bring it up here rather than in the constructor.
|
||||
* n.b. This method *must* be called in main() or later, not before.
|
||||
*
|
||||
* Example:
|
||||
* @code
|
||||
* uBit.init();
|
||||
* @endcode
|
||||
*/
|
||||
void MicroBit::init()
|
||||
{
|
||||
if (status & MICROBIT_INITIALIZED)
|
||||
return;
|
||||
|
||||
#if CONFIG_ENABLED(MICROBIT_HEAP_ALLOCATOR)
|
||||
// Bring up a nested heap allocator.
|
||||
microbit_create_nested_heap(MICROBIT_NESTED_HEAP_SIZE);
|
||||
#endif
|
||||
|
||||
// Bring up fiber scheduler.
|
||||
scheduler_init(&messageBus);
|
||||
|
||||
// Seed our random number generator
|
||||
seedRandom();
|
||||
|
||||
// Create an event handler to trap any handlers being created for I2C services.
|
||||
// We do this to enable initialisation of those services only when they're used,
|
||||
// which saves processor time, memeory and battery life.
|
||||
messageBus.listen(MICROBIT_ID_MESSAGE_BUS_LISTENER, MICROBIT_EVT_ANY, this, &MicroBit::onListenerRegisteredEvent);
|
||||
|
||||
status |= MICROBIT_INITIALIZED;
|
||||
|
||||
#if CONFIG_ENABLED(MICROBIT_BLE_PAIRING_MODE)
|
||||
// Test if we need to enter BLE pairing mode...
|
||||
int i=0;
|
||||
sleep(100);
|
||||
while (buttonA.isPressed() && buttonB.isPressed() && i<10)
|
||||
{
|
||||
sleep(100);
|
||||
i++;
|
||||
|
||||
if (i == 10)
|
||||
{
|
||||
#if CONFIG_ENABLED(MICROBIT_HEAP_ALLOCATOR) && CONFIG_ENABLED(MICROBIT_HEAP_REUSE_SD)
|
||||
microbit_create_heap(MICROBIT_SD_GATT_TABLE_START + MICROBIT_SD_GATT_TABLE_SIZE, MICROBIT_SD_LIMIT);
|
||||
#endif
|
||||
// Start the BLE stack, if it isn't already running.
|
||||
if (!ble)
|
||||
{
|
||||
bleManager.init(getName(), getSerial(), messageBus, true);
|
||||
ble = bleManager.ble;
|
||||
}
|
||||
|
||||
// Enter pairing mode, using the LED matrix for any necessary pairing operations
|
||||
bleManager.pairingMode(display, buttonA);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
// Attempt to bring up a second heap region, using unused memory normally reserved for Soft Device.
|
||||
#if CONFIG_ENABLED(MICROBIT_HEAP_ALLOCATOR) && CONFIG_ENABLED(MICROBIT_HEAP_REUSE_SD)
|
||||
#if CONFIG_ENABLED(MICROBIT_BLE_ENABLED)
|
||||
microbit_create_heap(MICROBIT_SD_GATT_TABLE_START + MICROBIT_SD_GATT_TABLE_SIZE, MICROBIT_SD_LIMIT);
|
||||
#else
|
||||
microbit_create_heap(MICROBIT_SRAM_BASE, MICROBIT_SD_LIMIT);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if CONFIG_ENABLED(MICROBIT_BLE_ENABLED)
|
||||
// Start the BLE stack, if it isn't already running.
|
||||
if (!ble)
|
||||
{
|
||||
bleManager.init(getName(), getSerial(), messageBus, false);
|
||||
ble = bleManager.ble;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* A listener to perform actions as a result of Message Bus reflection.
|
||||
*
|
||||
* In some cases we want to perform lazy instantiation of components, such as
|
||||
* the compass and the accelerometer, where we only want to add them to the idle
|
||||
* fiber when someone has the intention of using these components.
|
||||
*/
|
||||
void MicroBit::onListenerRegisteredEvent(MicroBitEvent evt)
|
||||
{
|
||||
switch(evt.value)
|
||||
{
|
||||
case MICROBIT_ID_BUTTON_AB:
|
||||
// A user has registered to receive events from the buttonAB multibutton.
|
||||
// Disable click events from being generated by ButtonA and ButtonB, and defer the
|
||||
// control of this to the multibutton handler.
|
||||
//
|
||||
// This way, buttons look independent unless a buttonAB is requested, at which
|
||||
// point button A+B clicks can be correclty handled without breaking
|
||||
// causal ordering.
|
||||
buttonA.setEventConfiguration(MICROBIT_BUTTON_SIMPLE_EVENTS);
|
||||
buttonB.setEventConfiguration(MICROBIT_BUTTON_SIMPLE_EVENTS);
|
||||
buttonAB.setEventConfiguration(MICROBIT_BUTTON_ALL_EVENTS);
|
||||
break;
|
||||
|
||||
case MICROBIT_ID_COMPASS:
|
||||
// A listener has been registered for the compass.
|
||||
// The compass uses lazy instantiation, we just need to read the data once to start it running.
|
||||
// Touch the compass through the heading() function to ensure it is calibrated. if it isn't this will launch any associated calibration algorithms.
|
||||
compass.heading();
|
||||
|
||||
break;
|
||||
|
||||
case MICROBIT_ID_ACCELEROMETER:
|
||||
// A listener has been registered for the accelerometer.
|
||||
// The accelerometer uses lazy instantiation, we just need to read the data once to start it running.
|
||||
accelerometer.updateSample();
|
||||
break;
|
||||
|
||||
case MICROBIT_ID_THERMOMETER:
|
||||
// A listener has been registered for the thermometer.
|
||||
// The thermometer uses lazy instantiation, we just need to read the data once to start it running.
|
||||
thermometer.updateSample();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
/* mbed Microcontroller Library
|
||||
* Copyright (c) 2006-2015 ARM Limited
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
#include "MicroBit.h"
|
||||
|
||||
void app_main()
|
||||
{
|
||||
while (1)
|
||||
{
|
||||
uBit.display.scroll("BELLO! :)");
|
||||
uBit.sleep(1000);
|
||||
}
|
||||
}
|
||||
Loading…
Reference in a new issue